Replaces IsaacSim `prim_utils` with IsaacLab `prim_utils`#3924

pascal-roth wants to merge 2 commits intoisaac-sim:mainisaac-sim/IsaacLab:mainfrom

pascal-roth:feature/replace-prim-utilspascal-roth/IsaacLab:feature/replace-prim-utilsCopy head branch name to clipboard